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birdcage/docs/K60-refman-vectors/K60-reference-manual_page_393.svg
Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A) 
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint,
3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep.

NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference
manual. Cortex-M4 96MHz MCU running the G2 firmware.

Reyax RYS352A GPS module: datasheet and PAIR command guide.
GPS receiver on the G2 board (used for auto-location/satellite lookup).

All extracted as markdown + page images + vector SVGs for LLM context.
Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
2026-02-14 18:36:42 -07:00

589 lines
75 KiB (Stored with Git LFS)
XML
Raw Blame History

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<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 126.682819)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 4 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 139.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 139.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 5 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 152.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 152.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 6 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 165.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 165.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 7 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 178.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 178.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 110.034 115.037998 121.535999 126.53999 131.04 133.54199 136.04399 138.54599 143.54999 146.54698 148.54499 153.54898 156.54598 158.54398 161.04598 165.54598 168.04798 174.54598 179.54998 184.55397 189.55797 192.05997 197.06397 201.56397 206.06397 211.06797 215.56797 220.06797 222.06597 227.06996 232.07396 234.57596 237.07796 242.08196 247.08596 249.58795 254.08795 256.08595 261.08995 265.58995 270.59394 273.09596 278.09996 283.10395 286.10096 288.60298">This master has level 8, or lowest, priority when accessing the slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 196.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">19</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 196.18282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 222.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">18&#x2013;16</tspan><tspan y="18.83789" x="29.304 36.801004">M4</tspan></text>
<g clip-path="url(#clip_8)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 222.68282)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 48.51001 53.51401 56.511014 58.509016 61.011014 65.51102 68.013019 70.515018 76.51801 81.52201 84.02401 88.52401 91.02601 93.52801 98.532009 103.536 106.038 111.042 114.039 119.043 121.041 123.543 126.54 131.544 134.046 136.044 141.048 146.052 148.554 153.558 156.555 158.553 163.55699 166.55399 168.55199 171.05399 175.55399 178.05599 180.55799 185.56198 188.55898 191.06098 193.56298 198.56697 200.56497 205.06497 207.56697 212.57097 217.57497 220.57196 223.07396 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 258.10197 262.60197 267.10197 272.10597 276.60597 278.60395 283.60795 286.10997 291.11396 296.11796 298.61997 303.11997 305.11796 310.12196 314.62196 319.62596 322.12797 327.13197 332.13597 335.13298 337.63499">Master 4 Priority. Sets the arbitration priority for this port on the associated slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 243.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 243.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 113.03999 115.037998 120.04199 125.04599 130.04999 134.54999 137.05199 139.55399 142.05599 147.05998 150.05698 152.05498 157.05898 160.05597 162.05397 164.55597 169.05597 171.55797 178.05597 183.05997 188.06397 193.06797 195.56996 200.57396 205.07396 209.57396 214.57796 219.07796 223.57796 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 257.59797 259.59596 264.59996 269.09996 274.10395 276.60597 281.60997 286.61396 289.61097 292.11299">This master has level 1, or highest, priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 254.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 254.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 2 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 267.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 267.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 3 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 280.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 280.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 4 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 293.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 293.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 5 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 306.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 306.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 6 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 319.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 319.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 7 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 332.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 332.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 110.034 115.037998 121.535999 126.53999 131.04 133.54199 136.04399 138.54599 143.54999 146.54698 148.54499 153.54898 156.54598 158.54398 161.04598 165.54598 168.04798 174.54598 179.54998 184.55397 189.55797 192.05997 197.06397 201.56397 206.06397 211.06797 215.56797 220.06797 222.06597 227.06996 232.07396 234.57596 237.07796 242.08196 247.08596 249.58795 254.08795 256.08595 261.08995 265.58995 270.59394 273.09596 278.09996 283.10395 286.10096 288.60298">This master has level 8, or lowest, priority when accessing the slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 350.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">15</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 350.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
<g clip-path="url(#clip_11)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 376.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="23.04 28.044003 33.048006 38.052007 43.056009">14&#x2013;12</tspan><tspan y="18.83789" x="29.304 36.801004">M3</tspan></text>
<g clip-path="url(#clip_12)">
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 376.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 48.51001 53.51401 56.511014 58.509016 61.011014 65.51102 68.013019 70.515018 76.51801 81.52201 84.02401 88.52401 91.02601 93.52801 98.532009 103.536 106.038 111.042 114.039 119.043 121.041 123.543 126.54 131.544 134.046 136.044 141.048 146.052 148.554 153.558 156.555 158.553 163.55699 166.55399 168.55199 171.05399 175.55399 178.05599 180.55799 185.56198 188.55898 191.06098 193.56298 198.56697 200.56497 205.06497 207.56697 212.57097 217.57497 220.57196 223.07396 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 258.10197 262.60197 267.10197 272.10597 276.60597 278.60395 283.60795 286.10997 291.11396 296.11796 298.61997 303.11997 305.11796 310.12196 314.62196 319.62596 322.12797 327.13197 332.13597 335.13298 337.63499">Master 3 Priority. Sets the arbitration priority for this port on the associated slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 397.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 397.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 113.03999 115.037998 120.04199 125.04599 130.04999 134.54999 137.05199 139.55399 142.05599 147.05998 150.05698 152.05498 157.05898 160.05597 162.05397 164.55597 169.05597 171.55797 178.05597 183.05997 188.06397 193.06797 195.56996 200.57396 205.07396 209.57396 214.57796 219.07796 223.57796 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 257.59797 259.59596 264.59996 269.09996 274.10395 276.60597 281.60997 286.61396 289.61097 292.11299">This master has level 1, or highest, priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 408.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 408.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 2 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 421.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 421.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 3 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 434.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 434.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 4 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 447.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 447.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 5 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 460.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 460.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 6 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 473.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 473.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 7 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 486.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 486.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 110.034 115.037998 121.535999 126.53999 131.04 133.54199 136.04399 138.54599 143.54999 146.54698 148.54499 153.54898 156.54598 158.54398 161.04598 165.54598 168.04798 174.54598 179.54998 184.55397 189.55797 192.05997 197.06397 201.56397 206.06397 211.06797 215.56797 220.06797 222.06597 227.06996 232.07396 234.57596 237.07796 242.08196 247.08596 249.58795 254.08795 256.08595 261.08995 265.58995 270.59394 273.09596 278.09996 283.10395 286.10096 288.60298">This master has level 8, or lowest, priority when accessing the slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 504.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="30.546 35.55">11</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 504.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.005002 24.003003 29.007004 31.005005 36.009008 38.511007 40.509008 45.009008 47.511007 50.508008 55.51201 60.01201 65.01601 68.01301 72.51301 77.517009 82.521">This field is reserved.</tspan><tspan y="18.83789" x="0 5.499 10.503 12.501 17.001 19.503 22.5 27.504002 32.508005 37.512006 40.509008 45.51301 50.51701 52.51501 57.01501 59.51701 62.01901 64.017009 69.021 71.019008 76.023 78.525 80.523 85.023 87.525 90.522 95.526 100.026 105.03 108.027 112.527 117.531 122.534999 125.036998 130.041 135.045 140.049 142.551 147.555 149.553 156.051 161.055 165.555 170.055 172.55699 177.56099 182.56499 187.06499 189.56699 192.06899 197.07299 202.07698 204.57898 209.07898 214.08298 216.08098 221.08498 226.08898 228.59098 233.59497">This read-only field is reserved and always has the value 0.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 530.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="25.542 30.546002 35.550004 40.554006">10&#x2013;8</tspan><tspan y="18.83789" x="29.295 36.792">M2</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 530.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 7.4970009 12.501001 17.001002 19.503003 24.507004 27.504004 30.006005 35.010007 37.512006 43.515008 46.51201 48.51001 53.51401 56.511014 58.509016 61.011014 65.51102 68.013019 70.515018 76.51801 81.52201 84.02401 88.52401 91.02601 93.52801 98.532009 103.536 106.038 111.042 114.039 119.043 121.041 123.543 126.54 131.544 134.046 136.044 141.048 146.052 148.554 153.558 156.555 158.553 163.55699 166.55399 168.55199 171.05399 175.55399 178.05599 180.55799 185.56198 188.55898 191.06098 193.56298 198.56697 200.56497 205.06497 207.56697 212.57097 217.57497 220.57196 223.07396 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 258.10197 262.60197 267.10197 272.10597 276.60597 278.60395 283.60795 286.10997 291.11396 296.11796 298.61997 303.11997 305.11796 310.12196 314.62196 319.62596 322.12797 327.13197 332.13597 335.13298 337.63499">Master 2 Priority. Sets the arbitration priority for this port on the associated slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 551.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.0040009 10.008001">000</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 551.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 113.03999 115.037998 120.04199 125.04599 130.04999 134.54999 137.05199 139.55399 142.05599 147.05998 150.05698 152.05498 157.05898 160.05597 162.05397 164.55597 169.05597 171.55797 178.05597 183.05997 188.06397 193.06797 195.56996 200.57396 205.07396 209.57396 214.57796 219.07796 223.57796 225.57596 230.57996 235.58396 238.08596 240.58795 245.59195 250.59595 253.09795 257.59797 259.59596 264.59996 269.09996 274.10395 276.60597 281.60997 286.61396 289.61097 292.11299">This master has level 1, or highest, priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 562.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">001</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 562.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 2 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 575.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">010</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 575.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 3 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 588.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">011</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 588.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 4 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 601.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">100</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 601.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 5 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 614.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">101</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 614.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 6 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 627.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">110</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 627.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 100.034999 103.032 105.03 110.034 113.031 115.029 117.531 122.031 124.533 131.03099 136.03499 141.03899 146.04299 148.54499 153.54898 158.04898 162.54898 167.55298 172.05298 176.55298 178.55098 183.55498 188.55898 191.06098 193.56298 198.56697 203.57097 206.07297 210.57297 212.57097 217.57497 222.07497 227.07897 229.58097 234.58496 239.58896 242.58596 245.08795">This master has level 7 priority when accessing the slave port.</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 131.85 640.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.0040009 10.008001">111</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 157.81867 640.6828)" font-size="9" font-family="HelveticaLTStd"><tspan y="9.83789" x="0 5.499 10.503 12.501 17.001 19.503 27 32.004 36.504 39.006 44.010004 47.007005 49.509004 54.513006 59.517007 64.017009 66.519008 68.517009 73.521 78.021 83.025 85.023 87.525 92.529 95.031 97.533 102.536998 105.534 108.035999 110.034 115.037998 121.535999 126.53999 131.04 133.54199 136.04399 138.54599 143.54999 146.54698 148.54499 153.54898 156.54598 158.54398 161.04598 165.54598 168.04798 174.54598 179.54998 184.55397 189.55797 192.05997 197.06397 201.56397 206.06397 211.06797 215.56797 220.06797 222.06597 227.06996 232.07396 234.57596 237.07796 242.08196 247.08596 249.58795 254.08795 256.08595 261.08995 265.58995 270.59394 273.09596 278.09996 283.10395 286.10096 288.60298">This master has level 8, or lowest, priority when accessing the slave port.</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 56.249994 658.1828)" font-size="9" font-family="HelveticaLTStd"><tspan y="7.83789" x="33.048">7</tspan><tspan y="18.83789" x="16.299 22.797 27.801003 32.301004 37.305006 40.302007 44.802007 49.806009">Reserved</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 18)" font-size="9" font-family="HelveticaLTStd" font-weight="bold"><tspan y="26.01034" x="350.469 356.96699 362.46598 367.46998 372.96897 375.96598 380.96998 384.47099 386.973 391.977 396.981 399.483 405.981 409.482 414.981 419.985 424.98899 430.48799 435.49198 438.99299 441.495 447.498 454.5 457.002 459.99903 465.00303 470.502 473.00404 476.00105 482.49903 488.502 495 501.003">Chapter 18 Crossbar Switch (AXBS)</tspan></text>
<text xml:space="preserve" transform="matrix(1 0 0 1 53.999994 734.93869)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="130.01 137.23 142.79 148.34999 151.12999 157.79999 163.90999 170.01999 173.34999 179.45999 185.01999 193.90999 196.68999 199.46999 205.02999 207.80998 215.02999 220.58998 223.91999 229.47998 233.36998 238.92998 245.03998 250.59998 256.15998 258.93998 267.26997 272.82997 278.93995 285.04994 290.60993 293.38993 296.16993 298.94993 306.16993 311.72993 317.28993 320.06993 322.8499 328.4099 331.1899 336.7499 342.8599 348.96989 351.74989 357.30989 362.86988 368.42988">K60 Sub-Family Reference Manual, Rev. 2 Jun 2012</tspan></text>
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<text fill="#ff0000" xml:space="preserve" transform="matrix(1 0 0 1 220.32 751.756)" font-size="10" font-family="HelveticaLTStd" font-weight="bold"><tspan y="8.59766" x="58.45 65.12 69.01 74.57 77.35 80.13 89.02 91.799999 97.909999 103.46999 107.35999">Preliminary</tspan></text>
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